Stewart platforma za rukovanje ovješenim teretom

master's thesis

• Title (english): Stewart platform for handling of suspended load
• Author: Marko Buj
• Mentor: Matija Hoić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-03-29, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

U ovom radu projektirarna je platforma za rukovanje ovješenim teretom temeljena na Stewart
mehanizmu. Projektirana platforma primjenu nalazi unutar radne hale u kojoj se nastoji
minimizirati ulazak osoblja zbog postojanja nuklearnog zračenja. Obavljat će zadatke
manipulacije i pozicioniranja tereta sa odgovarajućom pozicijskom točnosti i brzinom,
primjenom daljinskog upravljanja. Rad započinje općim pregledom literatute i preporučenih
formi rješenja za zadani zahtjeve. Zatim se pronalaze postojeća rješenja, od specijalziranih
proizvođača, sa sličnim operativnim parametrima. Na temelju postojećih, formira se
konceptualno rješenje i orijentacijski model zadanog mehanizma. Prije samog konstruiranja,
radi određivanja mogućih pozicija platforme provodi se kinematska analiza u MatLab – u.
Poznavanjem kinematike, određuju se pozicije za koje se smatra da će najviše opteretiti
aktuatore, te se u tim pozicijama provodi statička analiza . Na temelju rezultata statičke analize
odabiru se linearni aktuatori te se kreće s konstruiranjem, te odabriom ostalih standardnih
dijelova. Platforma se u potpunosti konstruira, te se podvrgava FEM analizi u programskom
paketu „Autodesk Inventor“. Zaključno, izrađuje se potrebna tehnička dokumentacija.

Abstract (english)

In this thesis, a platform for handling suspended loads based on the Stewart mechanism is
designed. The designed platform is used inside the work hall where the entry of personnel
should be minimized due to the presence of nuclear radiation. It will perform the tasks of
manipulation and positioning of loads with appropriate positional accuracy and speed, using
remote control. The paper begins with a general review of the literature and recommended
forms of solutions for the given requirements. Then existing solutions, from specialized
manufacturers, with similar operating parameters are found. Based on the existing ones, a
conceptual solution and an orientation model of the given mechanism is formed. Prior to
construction itself, in order to determine the possible positions of the platform, a kinematic
analysis is carried out in MatLab. By knowing the kinematics, the positions that are considered
to load the actuators the most are determined, and a static analysis is carried out in these
positions. Based on the results of the static analysis, linear actuators are selected, and the design
and selection of other standard parts is started. The platform is completely constructed and
subjected to FEM analysis in the "Autodesk Inventor" software package. In conclusion, the
necessary technical documentation is created.

• Keywords: Stewart platforma; pozicioniranje; kinematska analiza; linearni aktuator
• Keywords (english): Stewart platform; positioning; kinematic analysis; linear actuator
• Language: croatian
• URN:NBN: urn:nbn:hr:235:857076
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-23 09:27:55